US11414076B2 - Vehicle control system - Google Patents

Vehicle control system Download PDF

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US11414076B2
US11414076B2 US16/884,791 US202016884791A US11414076B2 US 11414076 B2 US11414076 B2 US 11414076B2 US 202016884791 A US202016884791 A US 202016884791A US 11414076 B2 US11414076 B2 US 11414076B2
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vehicle
traffic condition
control
parameter
traveling
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US20200377091A1 (en
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Hiroyuki NANJO
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Denso Corp
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Denso Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18072—Coasting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18072—Coasting
    • B60W2030/1809—Without torque flow between driveshaft and engine, e.g. with clutch disengaged or transmission in neutral
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/406—Traffic density
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/408—Traffic behavior, e.g. swarm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/10—Historical data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—Longitudinal acceleration

Definitions

  • the present disclosure relates to a vehicle control system.
  • Known techniques related to a vehicle control system include a technique for performing a target-following control, in which the distance between the own vehicle and a preceding vehicle that travels ahead of the own vehicle is controlled to a predetermined target vehicle-to-vehicle distance, and a vehicle speed maintaining control, in which the traveling speed of the own vehicle is controlled to a target vehicle speed.
  • a vehicle control system includes a travel control section, a first traffic condition quantity acquisition section, a second traffic condition quantity acquisition section, a correction parameter calculator, and a correction section.
  • the travel control section performs a vehicle speed control of an own vehicle.
  • the first traffic condition quantity acquisition section acquires a current traffic condition quantity on a road on which a preceding vehicle is traveling further ahead of a front vehicle.
  • the second traffic condition quantity acquisition section acquires a reference traffic condition quantity, which is a traffic condition quantity that serves as a reference for the road on which the preceding vehicle is traveling.
  • the correction parameter calculator calculates a difference between the current traffic condition quantity and the reference traffic condition quantity and calculates a correction parameter using the difference.
  • the correction section corrects a control parameter used during execution of the vehicle speed control using the correction parameter.
  • FIG. 1 is a block diagram illustrating a schematic configuration of a vehicle on which a vehicle control system according to a first embodiment is mounted;
  • FIG. 2 is a diagram schematically defining preceding vehicles and a front vehicle that travels ahead of an own vehicle;
  • FIG. 3 is a flowchart showing a routine performed by the vehicle control system of the first embodiment
  • FIG. 4 is a map used by the vehicle control system of the first embodiment to calculate a correction coefficient ⁇ from a difference DV ave in an average traveling speed and a difference DTHW ave in an average vehicle-to-vehicle time;
  • FIG. 5 is a flowchart showing a routine performed by a vehicle control system according to a second embodiment
  • FIG. 6 is a map used by the vehicle control system of the second embodiment to calculate a target acceleration a trg from the correction coefficient ⁇ ;
  • FIG. 7 is a graph showing the relationship between the correction coefficient ⁇ and a target acceleration deviation ⁇ a trg according to the vehicle control system of the second embodiment
  • FIG. 8 is a flowchart showing a routine performed by a vehicle control system according to a third embodiment
  • FIG. 9 is a flowchart showing a routine performed by a vehicle control system according to a fourth embodiment.
  • FIG. 10 is a graph showing the relationship between the correction coefficient ⁇ and the target acceleration a trg according to the vehicle control system of the fourth embodiment.
  • JP 2010-143551 A Japanese Laid-Open Patent Publication No. 2010-143551
  • the vehicle control system disclosed in the above publication performs a target-following control, in which the distance between the own vehicle and a preceding vehicle that travels ahead of the own vehicle is controlled to a predetermined target vehicle-to-vehicle distance, and a vehicle speed maintaining control, in which the traveling speed of the own vehicle is controlled to a target vehicle speed.
  • the vehicle control device When a vehicle or vehicles traveling further ahead of a front vehicle are referred to as preceding vehicles, the vehicle control device includes a speed fluctuation detecting means, which detects the speed fluctuation of the front vehicle, and a vehicle speed acquiring means, which acquires the traveling speed of the preceding vehicles, and a target vehicle speed resetting means, which resets the target traveling speed of the own vehicle. If it is determined that the speed fluctuation of the front vehicle is greater than a predetermined threshold value, the vehicle control device performs the vehicle speed maintaining control by suspending or terminating the target-following control and resetting the target traveling speed of the own vehicle on the basis of the traveling speed of the preceding vehicles.
  • the control in which the own vehicle follows the front vehicle is suspended or terminated. This prevents fluctuation in the traveling speed of the own vehicle that would otherwise be caused by being affected by the front vehicle. As a result, compared with the configuration in which the target-following control is continued regardless of the speed fluctuation of the front vehicle that travels ahead of the own vehicle, the fuel efficiency of the own vehicle is improved.
  • the amount of traffic which is the number of vehicles that pass per unit time, decreases at a point ahead of the own vehicle.
  • the preceding vehicle may possibly move in an irregular manner.
  • the traveling behavior of the own vehicle follows the real-time traveling behavior of the preceding vehicle.
  • the traveling behavior of the own vehicle may change in accordance with the change in the traveling behavior of the preceding vehicle.
  • Such a change in the traveling behavior of the own vehicle may possibly deteriorate the fuel efficiency and the riding comfort of the own vehicle.
  • the present disclosure has been accomplished in view of the above circumstances and mainly aims at providing a vehicle control system that is capable of improving the fuel efficiency and the riding comfort of the own vehicle in a more appropriate manner.
  • the vehicle control system includes a travel control section, a first traffic condition quantity acquisition section, a second traffic condition quantity acquisition section, a correction parameter calculator, and a correction section.
  • the travel control section performs a vehicle speed control that automatically controls a speed of the own vehicle.
  • a front vehicle When a first vehicle traveling ahead of an own vehicle in an advancing direction is referred to as a front vehicle, and a second vehicle traveling further ahead of the front vehicle are referred to as a preceding vehicle, the first traffic condition quantity acquisition section acquires a current traffic condition quantity on a road on which the preceding vehicle is traveling.
  • the second traffic condition quantity acquisition section acquires a reference traffic condition quantity, which is a traffic condition quantity that serves as a reference for the road on which the preceding vehicle is traveling.
  • the correction parameter calculator calculates a difference between the current traffic condition quantity and the reference traffic condition quantity and calculates a correction parameter using the difference.
  • the correction section corrects a control parameter used during execution of the vehicle speed control using the correction parameter.
  • the present disclosure provides a vehicle control system that is capable of improving the fuel efficiency and the riding comfort of the own vehicle in a more appropriate manner.
  • the vehicle control system 60 of the present embodiment is mounted on a vehicle 10 .
  • the vehicle 10 is a hybrid vehicle, which includes a motor generator 20 and an internal combustion engine 30 as a drive source for traveling.
  • the vehicle 10 includes an inverter 21 , a battery 22 , and a clutch 23 besides the motor generator 20 and the internal combustion engine 30 .
  • the vehicle 10 corresponds to the own vehicle.
  • the internal combustion engine 30 includes pistons that reciprocate by the combustion of fuel such as gasoline and rotates a first power transmission shaft 29 a by the reciprocation of the pistons.
  • the battery 22 is a rechargeable battery such as a lithium-ion battery capable of charging and discharging.
  • the inverter 21 converts DC power charged in the battery 22 to AC power and supplies the converted AC power to the motor generator 20 .
  • the motor generator 20 is driven by the AC power supplied from the inverter 21 and rotates a second power transmission shaft 29 b .
  • the second power transmission shaft 29 b is coupled to the first power transmission shaft 29 a through the clutch 23 .
  • the clutch 23 is capable of changing between a connected state and a disconnected state.
  • the first power transmission shaft 29 a and the second power transmission shaft 29 b are coupled, so that power, or in other words, torque is transmitted between the first power transmission shaft 29 a and the second power transmission shaft 29 b .
  • the disconnected state the first power transmission shaft 29 a and the second power transmission shaft 29 b are decoupled, so that the transmission of power is interrupted between the first power transmission shaft 29 a and the second power transmission shaft 29 b .
  • the second power transmission shaft 29 b is capable of receiving power from at least one of the internal combustion engine 30 and the motor generator 20 .
  • the power applied to the second power transmission shaft 29 b is input to a transmission 31 .
  • the transmission 31 accelerates or decelerates the power input from at least one of the internal combustion engine 30 and the motor generator 20 through the second power transmission shaft 29 b and transmits the power to a third power transmission shaft 29 c .
  • the power transmitted to the third power transmission shaft 29 c is transmitted to wheels 28 of the vehicle 10 through a differential gear 26 and a drive shaft 27 , so that the wheels 28 rotate. The rotation of the wheels 28 moves the vehicle 10 .
  • the motor generator 20 regenerates power when the vehicle 10 brakes. That is, the braking force applied to the wheels 28 when the vehicle 10 brakes is input to the motor generator 20 through the drive shaft 27 , the differential gear 26 , the third power transmission shaft 29 c , the transmission 31 , and the second power transmission shaft 29 b .
  • the motor generator 20 generates power on the basis of the power input from the wheels 28 .
  • the electric power generated by the motor generator 20 is converted from the AC power to the DC power by the inverter 21 and is charged into the battery 22 .
  • the vehicle 10 further includes a Motor Generator (MG) Electronic Control Unit (ECU) 40 , an engine ECU 41 , a Hybrid Vehicle (HV) ECU 42 , an Adaptive Cruise Control (ACC) ECU 43 , a traffic condition determining ECU 44 , a Human Machine Interface (HMI) ECU 45 , a vehicle-mounted sensor 46 , a front vehicle sensor 47 , a communication section 48 , and a notification device 49 .
  • MG Motor Generator
  • ECU Electronic Control Unit
  • HV Hybrid Vehicle
  • ACC Adaptive Cruise Control
  • HMI Human Machine Interface
  • Each of the ECUs 40 to 45 is constituted mainly by a microcomputer including a storage device such as a ROM and a RAM and a CPU and performs various control procedures by executing programs previously stored in the associated storage device.
  • the vehicle control system 60 which controls the traveling of the vehicle, is constituted by these components 40 to 48 .
  • the vehicle-mounted sensor 46 detects various state quantities of the vehicle 10 .
  • the state quantities detected by the vehicle-mounted sensor 46 include various pieces of information such as the speed and the acceleration of the vehicle 10 , the depression amount of the gas pedal, and the present location.
  • the front vehicle sensor 47 is constituted by a camera, a millimeter-wave radar, or a laser radar.
  • the front vehicle sensor 47 detects a front vehicle and calculates various state quantities of the detected front vehicle.
  • a front vehicle Ca is a first vehicle traveling ahead of the own vehicle 10 in the advancing direction.
  • the state quantities calculated by the front vehicle sensor 47 include, for example, the relative distance, the relative speed, and the relative acceleration of the front vehicle Ca with respect to the vehicle 10 .
  • the relative distance between the front vehicle Ca and the vehicle 10 is also referred to as a vehicle-to-vehicle distance.
  • each of vehicles Cb 1 to Cb 3 traveling further ahead of the front vehicle Ca (first vehicle Ca) in the advancing direction of the vehicle 10 is also referred to as a second vehicle Cb 1 , a third vehicle Cb 2 and a fourth vehicle Cb 3 .
  • the engine ECU 41 has centralized control over the driving of the internal combustion engine 30 .
  • the engine ECU 41 controls the driving of the internal combustion engine 30 in accordance with, for example, the command from the HV ECU 42 . More specifically, the HV ECU 42 transmits a power command value, which is a command value on the output power of the internal combustion engine 30 , to the engine ECU 41 .
  • the engine ECU 41 controls the internal combustion engine 30 so that the power corresponding to the power command value is output. Additionally, the engine ECU 41 controls the switching of the clutch 23 between the connected state and the disconnected state in accordance with the command from the HV ECU 42 .
  • the MG ECU 40 controls the operation of the motor generator 20 by controlling the driving of the inverter 21 in accordance with the command from the HV ECU 42 .
  • the HV ECU 42 transmits a power command value, which is a command value on the output power of the motor generator 20 , to the MG ECU 40 .
  • the MG ECU 40 controls the driving of the inverter 21 so that the power corresponding to the power command value is output from the motor generator 20 .
  • the MG ECU 40 drives the inverter 21 so that the electric power generated by the regeneration of the motor generator 20 is charged into the battery 22 .
  • the HV ECU 42 computes the power command value necessary for achieving the traveling corresponding to the operation request of the driver such as the power command value corresponding to the depression amount of the gas pedal and transmits the computed power command value to the MG ECU 40 and the engine ECU 41 to achieve the traveling of the vehicle 10 corresponding to the operation request of the driver.
  • the HV ECU 42 also transmits the power command value corresponding to the request from the ACC ECU 43 to the MG ECU 40 and the engine ECU 41 to achieve the traveling of the vehicle 10 corresponding to the request of the ACC ECU 43 .
  • the ACC ECU 43 sets a target acceleration a trg , which is the target value of the acceleration of the vehicle 10 , and transmits the target acceleration a trg that has been set to the HV ECU 42 .
  • the HV ECU 42 computes the power command value necessary for the actual acceleration of the vehicle 10 to approach the target acceleration a trg transmitted from the ACC ECU 43 and transmits the power command value to the MG ECU 40 and the engine ECU 41 , so that the vehicle 10 travels with the acceleration corresponding to the target acceleration a trg .
  • the HV ECU 42 also causes, for example, the clutch 23 to change to the connected or disconnected state in response to the request from the ACC ECU 43 .
  • the ACC ECU 43 performs the travel control of the vehicle when, for example, an occupant switches on the ACC switch on the operating portion of the vehicle 10 .
  • the ACC ECU 43 includes a travel control section 430 , which performs, as the travel control, the above-described ACC and Cruise Control (CC), which controls the traveling of the vehicle 10 so that the vehicle 10 travels at a constant speed.
  • CC ACC and Cruise Control
  • the travel control section 430 performs the CC process.
  • the predetermined speed of the vehicle 10 during the CC is set by, for example, the occupant of the vehicle through the operation of the operating portion of the vehicle 10 .
  • the travel control section 430 divides the vehicle-to-vehicle distance to the front vehicle Ca by the traveling speed of the vehicle 10 to compute a vehicle-to-vehicle time THW, which is the time taken by the vehicle 10 to catch up with the front vehicle Ca. If the vehicle-to-vehicle time THW is greater than or equal to a predetermined time threshold value, that is, if the vehicle 10 is not close to the front vehicle Ca, the travel control section 430 performs the CC process. If the vehicle-to-vehicle time THW is less than the predetermined time threshold value, that is, if the vehicle 10 is close to the front vehicle Ca, the travel control section 430 performs the ACC process.
  • the travel control section 430 To notify the occupant of the vehicle regarding the CC and the ACC, the travel control section 430 generates a notification request to the HMI ECU 45 .
  • the HMI ECU 45 provides various notifications in accordance with the notification request from the travel control section 430 using the notification device 49 provided on the vehicle 10 .
  • the notification device 49 may be a speaker or a display. In the present embodiment, the notification device 49 corresponds to the notification section.
  • the travel control section 430 first computes a vehicle-to-vehicle distance deviation D rel and a relative speed V rel of the front vehicle Ca.
  • the vehicle-to-vehicle distance deviation D rel is the deviation between a target vehicle-to-vehicle distance L trg and a current vehicle-to-vehicle distance L now of the front vehicle Ca.
  • the target vehicle-to-vehicle distance L trg is computed on the basis of a target vehicle-to-vehicle time THW trg and a current traveling speed V self of the own vehicle 10 using the following equation f1.
  • the target vehicle-to-vehicle time THW trg is basically set to any value such as the time period in the range of 1 to 2 seconds by the occupant of the vehicle operating the operating portion.
  • the target vehicle-to-vehicle time THW trg can be set to any of the items including, for example, great, medium, and small.
  • Great refers to a situation in which the predetermined time is set substantially long
  • small refers to a situation in which the predetermined time is set substantially short
  • medium refers to a situation in which the predetermined time is set to an intermediate time between great and small.
  • L trg THW trg ⁇ V self (f1)
  • the travel control section 430 acquires the information on the vehicle-to-vehicle distance L now between the vehicle 10 and the current front vehicle Ca using the front vehicle sensor 47 .
  • the travel control section 430 computes the vehicle-to-vehicle distance deviation D rel using the following equation f2.
  • D rel L trg ⁇ L now (f2)
  • the travel control section 430 calculates the target acceleration a trg of the vehicle 10 using the following equation f3.
  • a trg f ( D rel ,V rel ) (f3)
  • the function f shown in the equation f3 is a predetermined function that includes the vehicle-to-vehicle distance deviation D rel and the relative speed V rel of the front vehicle Ca as variables.
  • the actual acceleration of the vehicle 10 is controlled to approach the target acceleration a trg , so that the vehicle-to-vehicle time between the vehicle 10 and the front vehicle Ca approaches the target vehicle-to-vehicle time THW trg .
  • the travel control section 430 performs the ACC process as the target-following control, which causes the actual vehicle-to-vehicle time between the vehicle 10 and the front vehicle Ca to approach the target vehicle-to-vehicle time THW trg .
  • the control parameter of the ACC includes the actual vehicle-to-vehicle time between the vehicle 10 and the front vehicle Ca and the target vehicle-to-vehicle time THW trg .
  • the actual vehicle-to-vehicle time between the vehicle 10 and the front vehicle Ca corresponds to the vehicle-to-vehicle parameter
  • the target vehicle-to-vehicle time THW trg corresponds to the target vehicle-to-vehicle parameter.
  • the vehicle-to-vehicle parameter may include the vehicle-to-vehicle distance between the vehicle 10 and the front vehicle Ca instead of the actual vehicle-to-vehicle time between the vehicle 10 and the front vehicle Ca.
  • the target vehicle-to-vehicle parameter may include the target vehicle-to-vehicle distance instead of the target vehicle-to-vehicle time THW trg .
  • the ACC ECU 43 of the present embodiment corrects the target vehicle-to-vehicle time THW trg in accordance with the traveling condition of the preceding vehicles Cb (second, third and fourth vehicles Cb 1 , Cb 2 , Cb 3 ) and causes the vehicle 10 to travel in a manner corresponding to the traveling condition of the preceding vehicles Cb.
  • the ACC ECU 43 includes a correction section, which corrects the target vehicle-to-vehicle time, which is the control parameter used during execution of the ACC, by a correction coefficient ⁇ .
  • the traffic condition determining ECU 44 also includes a correction parameter calculator, which calculates the correction coefficient ⁇ .
  • the correction coefficient ⁇ is a correction parameter used for correcting the target vehicle-to-vehicle time THW trg .
  • the correction section of the ACC ECU 43 is indicated with the reference numeral 431
  • the correction parameter calculator of the traffic condition determining ECU 44 is indicated with the reference numeral 440 .
  • the vehicle Cb 1 (second vehicle Cb 1 ) traveling further ahead of the front vehicle Ca (first vehicle Ca) in the advancing direction of the vehicle 10 may be referred to as a preceding vehicle Cb.
  • the ACC ECU 43 of the present embodiment corrects the target vehicle-to-vehicle time THWtrg in accordance with the traveling condition of the preceding vehicle Cb (second vehicle Cb 1 ) and causes the vehicle 10 to travel in a manner corresponding to the traveling condition of the preceding vehicle Cb.
  • the traffic condition determining ECU 44 is capable of wirelessly connecting to a network line 50 through the communication section 48 mounted on the vehicle 10 .
  • the traffic condition determining ECU 44 communicates various items of information with a server 51 , which is provided separately from the vehicle 10 , through the network line 50 .
  • the server 51 acquires various state quantities of vehicles through a vehicle monitoring device located on the road on which the vehicles travel and acquires various state quantities of each vehicle through wireless communication directly with the vehicles.
  • the server 51 manages a database of the various state quantities of the vehicles.
  • the data stored in the database of the server 51 includes traffic information such as the traveling speed and the vehicle-to-vehicle time of a sample vehicle that travels through predetermined traveling points.
  • the server 51 computes the vehicle-to-vehicle time THWs of the sample vehicle using the following equation f4.
  • Ls represents the vehicle-to-vehicle distance between the sample vehicle and the front vehicle Ca traveling ahead of the sample vehicle
  • Vs represents the traveling speed Vs of the sample vehicle.
  • THWs Ls/Vs (f4)
  • the data stored in the database of the server 51 includes the traffic information of the past vehicles besides the traffic information of the currently traveling vehicles.
  • the traffic condition determining ECU 44 acquires, from the server 51 , the data stored in the server 51 and the computed value that can be computed from the data.
  • the traffic condition determining ECU 44 requests, for example, an average traveling speed V ave-now and an average vehicle-to-vehicle time THW ave-now of the current preceding vehicles Cb, and an average traveling speed V ave-base and an average vehicle-to-vehicle time THW ave-base of the preceding vehicles Cb based on the past history from the server 51 .
  • the traffic condition determining ECU 44 transmits the information on the current location of the vehicle 10 that can be acquired from the vehicle-mounted sensor 46 to the server 51 .
  • the server 51 computes various kinds of information corresponding to the current location of the vehicle 10 as follows.
  • the server 51 sets the location where the vehicle 10 advances from the current location by a predetermined distance in the advancing direction as a predetermined location and sets the section from the current location of the vehicle 10 to the predetermined location as a sample region.
  • the server 51 computes the mean of the traveling speed of the preceding vehicles Cb that are currently traveling the sample region as the average traveling speed V ave-now of the current preceding vehicles Cb.
  • the predetermined location is set as, for example, the position of a traffic light that is two sections ahead of the current location of the own vehicle 10 .
  • the server 51 also computes the mean of the vehicle-to-vehicle time of the current preceding vehicles Cb that are currently traveling the sample region as the average vehicle-to-vehicle time THW ave-now .
  • the server 51 computes the mean of the traveling speed of the past vehicles that traveled through the sample region during the time period from the present to the predetermined earlier time as the average traveling speed V ave-base of the preceding vehicles Cb based on the past history. Additionally, the server 51 computes the mean of the vehicle-to-vehicle time of the past vehicles that traveled through the sample region during the time period from the present to the predetermined earlier time as the average vehicle-to-vehicle time THW ave-base of the preceding vehicles Cb based on the past history. The server 51 transmits the computed various kinds of information to the vehicle 10 through the network line 50 .
  • the server 51 transmits the average traveling speed V ave-now and the average vehicle-to-vehicle time THW ave-now of the current preceding vehicles Cb and the average traveling speed V ave-base and the average vehicle-to-vehicle time THW ave-base of the preceding vehicles Cb based on the past history.
  • the traffic condition determining ECU 44 acquires these computed values from the server 51 .
  • the correction parameter calculator 440 of the traffic condition determining ECU 44 computes a correction parameter ⁇ of the target vehicle-to-vehicle time THW trg in the ACC control using the information acquired from the server 51 and transmits the computed correction parameter ⁇ to the ACC ECU 43 .
  • the correction section 431 of the ACC ECU 43 corrects the target vehicle-to-vehicle time THW trg in the ACC using the correction parameter ⁇ transmitted from the traffic condition determining ECU 44 .
  • the travel control section 430 of the ACC ECU 43 sets the target acceleration a trg of the vehicle 10 using the target vehicle-to-vehicle time THW trg after correction and achieves the traveling of the vehicle 10 taking into consideration the traveling condition of the preceding vehicles Cb.
  • the ACC ECU 43 and the traffic condition determining ECU 44 repeatedly perform the routine shown in FIG. 3 by a predetermined cycle.
  • the travel control section 430 of the ACC ECU 43 first determines whether the ACC switch is on at step S 101 . If the decision outcome of step S 101 is negative, that is, if the ACC switch is off, the travel control section 430 determines that there is no need to perform the ACC process and terminates the series of steps.
  • step S 101 determines whether there is the front vehicle Ca that should be set as the object to be followed in the ACC. If the front vehicle Ca is not detected by the front vehicle sensor 47 or if the vehicle-to-vehicle time THW is greater than or equal to the predetermined time threshold value although the front vehicle Ca is detected, the travel control section 430 determines that there is no front vehicle Ca that should be set as the object to be followed in the ACC control. In this case, the decision outcome of step S 102 is negative, and the travel control section 430 proceeds to step S 114 . At step S 114 , the travel control section 430 performs the CC and terminates the series of steps.
  • step S 102 if the front vehicle Ca is detected by the front vehicle sensor 47 , and the vehicle-to-vehicle time THW is less than the predetermined time threshold value, the travel control section 430 determines that there is the front vehicle Ca that should be set as the object to be followed in the ACC control. In this case, the decision outcome of step S 102 is positive, and the travel control section 430 proceeds to step S 103 .
  • the travel control section 430 reads a target vehicle-to-vehicle time THW trg-base before correction from the storage device.
  • the target vehicle-to-vehicle time THW trg-base is a value set by the occupant of the vehicle 10 as described above, and the set value is stored in the storage device of the ACC ECU 43 .
  • step S 104 the travel control section 430 detects the relative speed V rel of the front vehicle Ca using the front vehicle sensor 47 .
  • step S 105 the travel control section 430 acquires the vehicle-to-vehicle distance L now with respect to the front vehicle Ca.
  • the traffic condition determining ECU 44 acquires a current traffic condition quantity I now from the server 51 .
  • the current traffic condition quantity I now is the current traffic condition quantity of the road on which the preceding vehicles Cb are traveling and is the information including, for example, the average traveling speed V ave-now and the average vehicle-to-vehicle time THW ave-now of the above-described current preceding vehicles Cb.
  • the traffic condition determining ECU 44 also acquires a normal state traffic condition quantity I base from the server 51 .
  • the normal state traffic condition quantity I base is the traffic condition quantity in a normal state on the road on which the preceding vehicles Cb are traveling and is the information including, for example, the average traveling speed V ave-base and the average vehicle-to-vehicle time THW ave-base of the preceding vehicles Cb based on the past history described above.
  • step S 108 the traffic condition determining ECU 44 computes the correction coefficient ⁇ as the correction parameter using the current traffic condition quantity I now and the normal state traffic condition quantity I base .
  • the computing of the correction coefficient ⁇ is performed as follows for example.
  • I now [ V ave-now ,THW ave-now ] (f5)
  • I base [ V ave-base ,THW ave-base ] (f6)
  • the traffic condition determining ECU 44 acquires the current traffic condition quantity I now and the normal state traffic condition quantity I base represented by the equation f5 and the equation f6 from the server 51 .
  • the normal state traffic condition quantity I base may be referred to as the reference traffic condition quantity I base .
  • a current traffic condition index value f (I now [n]) and a reference traffic condition index value f(I base [n]) are defined as the following equations f7 to f10 where n is 1 or 2.
  • f ( I now [1]) V ave-now (f7)
  • f ( I now [2]) THW ave-now (f8)
  • f ( I base [1]) V base-now (f9)
  • f ( I base [2]) THW base-now (f10)
  • the average traveling speed V ave-now and the average vehicle-to-vehicle time THW ave-now of the current preceding vehicles Cb correspond to the current traffic condition quantity.
  • the average traveling speed V ave-base and the average vehicle-to-vehicle time THW ave-base of the past preceding vehicles Cb correspond to the reference traffic condition quantity.
  • the average vehicle-to-vehicle time THW ave-now and the THW ave-base correspond to an average vehicle-to-vehicle parameter.
  • the traffic condition determining ECU 44 includes a first traffic condition quantity acquisition section and a second traffic condition quantity acquisition section.
  • the first traffic condition quantity acquisition section acquires the traffic condition index value f(I now [n]), which is the current traffic condition quantity.
  • the second traffic condition quantity acquisition section acquires the traffic condition index value f(I base [n]), which is the reference traffic condition quantity.
  • the first traffic condition quantity acquisition section and second traffic condition quantity acquisition section of the traffic condition determining ECU 44 are indicated with the reference numerals 441 and 442 .
  • the current traffic condition index value f(I now [n]) may be a computed value obtained by converting the average traveling speed V ave-now and the average vehicle-to-vehicle time THW ave-now of the current preceding vehicles Cb using, for example, a predetermined arithmetic expression.
  • the reference traffic condition index value f(I base [n]) may be a computed value obtained by converting the average traveling speed V ave-base and the average vehicle-to-vehicle time THW ave-base of the preceding vehicles Cb based on the past history using, for example, a predetermined arithmetic expression.
  • the correction parameter calculator 440 of the traffic condition determining ECU 44 computes a difference DV ave in the average traveling speed and a difference DTHW ave in the average vehicle-to-vehicle time by the following equations f11 and f12 using the thus defined traffic condition index values f(I now [n]) and f(f base [n]).
  • DV ( f ( I base [1]) ⁇ f ( I now [1]))/ f ( I base [1]) (f11)
  • DTHW ( f ( I base [2]) ⁇ f ( I now [2]))/ f ( I base [2]) (f12)
  • the correction parameter calculator 440 computes the correction coefficient ⁇ using a map shown in FIG. 4 from the difference DV ave in the average traveling speed and the difference DTHW ave in the average vehicle-to-vehicle time that have been computed.
  • the map shown in FIG. 4 enables the correction coefficient ⁇ to be computed in the range of 1 to 1.5 using the difference DV ave in the average traveling speed and the difference DTHW ave in the average vehicle-to-vehicle time.
  • the greater the difference DV ave in the average traveling speed that is, the greater the deviation between the average traveling speed of the current preceding vehicles Cb and the average traveling speed of the past preceding vehicles Cb
  • the greater the value of the correction coefficient ⁇ is set to.
  • the greater the difference DTHW ave in the average vehicle-to-vehicle time that is, the greater the deviation between the average vehicle-to-vehicle time of the current preceding vehicles Cb and the average vehicle-to-vehicle time of the past preceding vehicles Cb
  • the greater the value of the correction coefficient ⁇ is set to.
  • the correction parameter calculator 440 transmits the computed correction coefficient ⁇ to the ACC ECU 43 .
  • step S 109 the correction section 431 of the ACC ECU 43 calculates the target vehicle-to-vehicle time THW trg after correction by correcting the target vehicle-to-vehicle time THW trg-base using the correction coefficient ⁇ on the basis of the following equation f13.
  • THW trg ⁇ THW trg-base (f13)
  • step S 110 the travel control section 430 of the ACC ECU 43 computes the target acceleration a trg using the equations f1 to f3.
  • step S 111 the travel control section 430 transmits the computed target acceleration a trg to the HV ECU 42 .
  • the HV ECU 42 computes the power command value necessary for causing the actual acceleration of the vehicle to approach the target acceleration a trg and transmits the power command value to the MG ECU 40 and the engine ECU 41 , so that the vehicle 10 travels with the acceleration corresponding to the target acceleration a trg .
  • step S 112 subsequent to step S 111 the ACC ECU 43 of the present embodiment determines whether the correction coefficient ⁇ is greater than a predetermined value ⁇ th . If the correction coefficient ⁇ is greater than the predetermined value ⁇ th , the ACC ECU 43 makes a positive determination at step S 112 . In this case, the ACC ECU 43 determines that the vehicle-to-vehicle time of the vehicle 10 with respect to the front vehicle Ca will g-base increase significantly with respect to the target vehicle-to-vehicle time THW trg-base and notifies the occupant of that fact at subsequent step S 113 .
  • the ACC ECU 43 requests the HMI ECU 45 to notify that the vehicle-to-vehicle time of the vehicle 10 will increase.
  • the HMI ECU 45 notifies the occupant of the fact that the vehicle-to-vehicle time of the vehicle 10 will increase using the notification device 49 .
  • the notification eliminates the uncomfortable feeling of the occupant of the vehicle 10 described above.
  • the ACC ECU 43 terminates the series of steps shown in FIG. 3 .
  • the ACC ECU 43 makes a negative determination at step S 112 . In this case, the ACC ECU 43 terminates the series of steps shown in FIG. 3 without notifying the occupant.
  • the vehicle control system 60 of the present embodiment described above achieves the following operations and advantages (1) to (7).
  • the travel control section 430 of the ACC ECU 43 performs the ACC process, which causes the vehicle-to-vehicle time between the vehicle 10 and the front vehicle Ca to approach the target vehicle-to-vehicle time THW trg , as the vehicle speed control that automatically controls the speed of the vehicle 10 and uses the vehicle-to-vehicle time and the target vehicle-to-vehicle time THW trg-base as the control parameters.
  • the correction section 431 of the ACC ECU 43 corrects the target vehicle-to-vehicle time THW trg-base using the correction coefficient ⁇ .
  • the vehicle control system 60 further includes the communication section 48 for communicating with the server 51 , which is provided separately from the vehicle 10 .
  • the first traffic condition quantity acquisition section 441 and the second traffic condition quantity acquisition section 442 of the traffic condition determining ECU 44 each acquire the current traffic condition quantity I now and the reference traffic condition quantity I base from the server 51 through the communication section 48 .
  • the management of the reference traffic condition quantity I base by the server 51 enables the traffic condition quantities of more vehicles to be stored in the database compared with the case in which the information is managed by the vehicle 10 . Thus, more accurate reference traffic condition quantity I base is acquired.
  • the current traffic condition quantity I now and the reference traffic condition quantity I base may be the average traveling speed V ave-now , V ave-base and the average vehicle-to-vehicle time THW ave-now , THW ave-base of the preceding vehicles Cb that travel from the current location of the vehicle 10 to the predetermined location. Since the traveling speed and the vehicle-to-vehicle time are parameters that are strongly correlated with the traffic condition, it is effective to use these parameters as the current traffic condition quantity I now and the reference traffic condition quantity I base .
  • the difference DV ave in the average traveling speed and the difference DTHW in the average vehicle-to-vehicle time are computed as values that are correlated with the difference value between the current traffic condition index value f(I now [n]) and the reference traffic condition index value f(I base [n]) defined by the equations f7 to f10. Since the correction coefficient ⁇ is set using the differences DV ave and DTHW ave , more appropriate correction coefficient ⁇ corresponding to the traffic condition of the preceding vehicles Cb is computed.
  • the vehicle control system 60 further includes the notification device 49 , which notifies the occupant if the correction coefficient ⁇ is greater than the predetermined value ⁇ th .
  • the notification device 49 prohibits notifying the occupant when the correction coefficient ⁇ is less than or equal to the predetermined value ⁇ th . With this configuration, unnecessary notification is avoided. Thus, the occupant is prevented from being confused by the notification.
  • the traffic condition quantity of the vehicle such as the traveling speed and the vehicle-to-vehicle time changes in accordance with environmental factors such as whether the vehicle is traveling on a weekday or on a weekend, the day of the week when the vehicle is traveling, the traveling location, the time at which the vehicle is traveling, the weather during the traveling of the vehicle, and the road condition during the traveling of the vehicle.
  • the server 51 may acquire the normal state traffic condition quantity base after classifying the data in accordance with at least one of the environmental factors.
  • the second traffic condition quantity acquisition section 442 of the traffic condition determining ECU 44 obtains more accurate reference traffic condition index value f(I base [n]) by acquiring the normal state traffic condition quantity base classified by at least one of the above-mentioned environmental factors from the server 51 .
  • the vehicle control system 60 according to a second embodiment will be described.
  • the differences from the vehicle control system 60 of the first embodiment will mainly be described.
  • the correction coefficient ⁇ is used as the index value indicating the urgency to change the traveling condition of the vehicle 10 in accordance with the situation. More specifically, as shown in FIG. 4 , the greater the difference DTHW ave in the average vehicle-to-vehicle time and the difference DTHW ave in the average vehicle-to-vehicle time, that is, the greater the difference between the current traffic condition and the past traffic condition, the greater the correction coefficient ⁇ is set to. If the difference between the current traffic condition and the past traffic condition is great, there may possibly be a problem in the current traffic condition. Thus, it is determined that there is great urgency to change the traveling condition of the vehicle 10 in accordance with the situation.
  • the greater the value of the correction coefficient ⁇ the higher the urgency to change the traveling condition of the vehicle 10 is determined to be.
  • the greater the correction coefficient ⁇ the higher the urgency of the vehicle 10 is determined to be, and the greater the deceleration of the vehicle 10 is set to.
  • the smaller the value of the correction coefficient ⁇ the lower the urgency of the vehicle 10 is determined to be. In this case, the efficiency in regenerating power by the motor generator 20 is increased by decreasing the deceleration of the vehicle 10 .
  • the travel control section 430 of the ACC ECU 43 of the present embodiment performs the routine shown in FIG. 5 instead of the routine shown in FIG. 3 .
  • the same processes as the processes shown in FIG. 3 are given the same reference numerals, and redundant descriptions will be omitted.
  • the travel control section 430 calculates the target acceleration a trg corresponding to the correction coefficient ⁇ . More specifically, the travel control section 430 calculates the target acceleration a trg using the following equation f14 instead of the equation f3.
  • a trg f ( D rel ,V rel , ⁇ ) (f14)
  • the function f shown in the equation f14 is a predetermined function including the vehicle-to-vehicle distance deviation D rel , the relative speed V rel of the front vehicle Ca, and the correction coefficient ⁇ as variables.
  • the target acceleration a trg changes in accordance with the changes in the correction coefficient ⁇ as shown in FIG. 6 .
  • the correction coefficient ⁇ is set to a value greater than or equal to 1.
  • the target acceleration a trg is set to a negative value with respect to the correction coefficient ⁇ . If the target acceleration a trg is a negative value, the vehicle 10 is controlled to decelerate. If the target acceleration a trg is a positive value, the vehicle 10 is controlled to accelerate.
  • the greater the correction coefficient ⁇ the greater the absolute value of the target acceleration a trg is set to. That is, the greater the correction coefficient ⁇ , the greater the deceleration of the vehicle 10 becomes.
  • a predetermined correction coefficient greater than 1 is referred to as ⁇ 1
  • a predetermined correction coefficient greater than ⁇ 1 is referred to as ⁇ 2
  • the fluctuation amount of the target acceleration a trg in the range of “ ⁇ 1 ⁇ 2” is greater than the fluctuation amount of the target acceleration a trg in the range of “1 ⁇ 1”.
  • the absolute value of the target acceleration a trg in the range of “ ⁇ 2 ⁇ ” is significantly greater than the absolute value of the target acceleration a trg in the range of “1 ⁇ 1”.
  • a deviation ⁇ a trg between the target acceleration a trg computed using the equation f14 and the reference target acceleration a trg-base changes with respect to the correction coefficient ⁇ as shown in FIG. 7 .
  • the above deviation ⁇ a trg is also referred to as the target acceleration deviation ⁇ a trg .
  • the target acceleration deviation ⁇ a trg is greater than 0, that is, the target acceleration a trg is greater than the reference target acceleration a trg-base .
  • the deceleration of the vehicle 10 is decreased.
  • the target acceleration deviation ⁇ a trg is significantly smaller than 0, that is, the target acceleration a trg is significantly smaller than the reference target acceleration a trg-base .
  • the deceleration of the vehicle 10 is increased.
  • the vehicle control system 60 of the present embodiment described above further achieves the following operations and advantages (8) and (9).
  • the travel control section 430 corrects the target acceleration a trg so that the greater the correction coefficient ⁇ , the greater the deceleration of the vehicle 10 becomes.
  • the higher the urgency to change the traveling condition of the vehicle 10 the greater the deceleration of the vehicle 10 becomes.
  • the safety of the vehicle 10 is more appropriately ensured.
  • the travel control section 430 corrects the target acceleration a trg so that the smaller the correction coefficient ⁇ , the smaller the deceleration of the vehicle 10 becomes.
  • the lower the urgency to change the traveling condition of the vehicle 10 the smaller the deceleration of the vehicle 10 becomes.
  • the efficiency in regenerating the power by the motor generator 20 is increased.
  • the vehicle control system 60 according to a third embodiment will be described.
  • the differences from the vehicle control system 60 of the first embodiment will mainly be described.
  • the ACC ECU 43 and the traffic condition determining ECU 44 of the present embodiment perform the routine shown in FIG. 8 instead of the routine shown in FIG. 3 .
  • the same processes as the processes shown in FIG. 3 are given the same reference numerals, and redundant descriptions will be omitted.
  • the travel control section 430 of the ACC ECU 43 determines whether the target vehicle-to-vehicle time THW trg after correction is greater than the target vehicle-to-vehicle time THW trg-base before correction. If the target vehicle-to-vehicle time THW trg after correction is less than or equal to the target vehicle-to-vehicle time THW trg-base before correction, the travel control section 430 makes a negative determination at step S 300 . In this case, like the first embodiment, the ACC ECU 43 and the traffic condition determining ECU 44 perform the processes of steps S 110 to S 113 .
  • the travel control section 430 makes a positive determination at step S 300 .
  • the travel control section 430 determines whether a road gradient ⁇ of the road on which the vehicle 10 is traveling is greater than or equal to zero.
  • the vehicle-mounted sensor 46 shown in FIG. 1 includes, for example, an inclination angle sensor, which detects the inclination angle of the fore-and-aft direction of the vehicle with respect to the direction of the gravitational force.
  • the travel control section 430 detects the road gradient ⁇ of the road on which the vehicle 10 is traveling in accordance with the inclination angle of the fore-and-aft direction of the vehicle detected using the inclination angle sensor.
  • the vehicle-mounted sensor 46 corresponds to a gradient detection section.
  • the travel control section 430 makes a negative determination at step S 301 .
  • the ACC ECU 43 and the traffic condition determining ECU 44 perform the processes of steps S 110 to S 113 .
  • the travel control section 430 makes a positive determination at step S 301 .
  • the travel control section 430 performs a coasting control of the vehicle 10 until the vehicle-to-vehicle time of the vehicle 10 reaches the target vehicle-to-vehicle time THW trg after correction.
  • the coasting control allows the vehicle 10 to coast.
  • the travel control section 430 transmits the target acceleration a trg set to a value slightly smaller than zero to the HV ECU 42 and transmits a command indicating to switch the clutch 23 into the disconnected state to the HV ECU 42 .
  • the HV ECU 42 transmits the power command value set to a value slightly smaller than zero to the MG ECU 40 and transmits a command indicating to switch the clutch 23 into the disconnected state to the engine ECU 41 .
  • the motor generator 20 is stopped, and the vehicle 10 starts to coast.
  • the vehicle 10 When the vehicle 10 coasts by the execution of the coasting control, the vehicle 10 automatically decelerates. The automatic deceleration of the vehicle 10 by the coasting control is performed until the vehicle-to-vehicle time of the vehicle 10 reaches the target vehicle-to-vehicle time THW trg after correction. If the vehicle-to-vehicle time of the vehicle 10 reaches the target vehicle-to-vehicle time THW trg after correction, the travel control section 430 performs the processes of steps S 112 and S 113 .
  • the vehicle control system 60 of the present embodiment described above further achieves the following operation and advantage (10).
  • the travel control section 430 determines whether the vehicle 10 can be decelerated by the coasting control on the basis of the road gradient ⁇ . If it is determined that the vehicle 10 can be decelerated by the coasting control, the travel control section 430 decelerates the vehicle 10 by the coasting control, so that the vehicle-to-vehicle time of the vehicle 10 is changed to the target vehicle-to-vehicle time THW trg after correction.
  • the travel control section 430 decelerates the vehicle 10 by the coasting control, so that the vehicle-to-vehicle time of the vehicle 10 is changed to the target vehicle-to-vehicle time THW trg after correction.
  • the vehicle control system 60 according to a fourth embodiment will be described.
  • the differences from the vehicle control system 60 of the second embodiment will mainly be described.
  • the ACC ECU 43 and the traffic condition determining ECU 44 of the present embodiment perform the routine shown in FIG. 9 instead of the routine shown in FIG. 5 .
  • the same processes as the processes shown in FIGS. 3, 5, and 8 are given the same reference numerals, and redundant descriptions will be omitted.
  • step S 301 if the decision outcome of step S 301 is positive, the travel control section 430 of the present embodiment proceeds to step S 400 and determines whether the correction coefficient ⁇ is less than a predetermined value ⁇ th-cst . If the correction coefficient ⁇ is less than the predetermined value ⁇ th-cst , the travel control section 430 makes a positive determination at step S 400 and performs the process of step S 302 and the processes of steps S 112 and S 113 .
  • the travel control section 430 performs the processes of steps S 200 and S 111 to S 113 .
  • the vehicle control system 60 of the present embodiment described above further achieves the following operation and advantage (11).
  • step S 301 When the decision outcome of step S 301 is positive, that is, when it is determined that the vehicle 10 can be decelerated by the coasting control, if the correction coefficient ⁇ is smaller than the predetermined value ⁇ th-cst , the travel control section 430 sets the target acceleration a trg to a value slightly smaller than zero as shown in FIG. 10 . Thus, the coasting control is performed and the vehicle 10 decelerates, so that the vehicle-to-vehicle time of the vehicle 10 is changed to the target vehicle-to-vehicle time THW trg after correction. Furthermore, if the decision outcome of step S 301 shown in FIG.
  • the travel control section 430 determines that the urgency to change the traveling condition of the vehicle is high and corrects the target acceleration a trg so that the deceleration of the own vehicle changes in accordance with the correction coefficient ⁇ as shown in FIG. 10 .
  • the first traffic condition quantity acquisition section 441 may use, as the current traffic condition quantity, a value that correlates with the combination of the average traveling speed V ave-now and the average vehicle-to-vehicle time THW ave-now of the current preceding vehicles Cb besides the traffic condition index value f(I now [n]) shown by the equations f7 and f8. Additionally, the second traffic condition quantity acquisition section 442 may use, as the reference traffic condition quantity, a value that correlates with the combination of the average traveling speed V ave-base and the average vehicle-to-vehicle time THW ave-base of the past vehicles besides the traffic condition index value f(I base [n]) shown by the equations f9 and f10.
  • the current traffic condition quantity I now may be a current value such as the average side movement or the average number of times of the application of the brakes performed in order to avoid a falling object.
  • the normal state traffic condition quantity I base may be a value based on the past history such as the average side movement or the average number of times of the application of the brakes performed in order to avoid a falling object.
  • the traffic condition determining ECU 44 may set the correction coefficient ⁇ on the basis of the numerical value.
  • Each of the ECUs 40 to 45 and the control methods disclosed in the present disclosure may be achieved by one or more dedicated computers constituted by a processor and a memory embodied by computer programs and programmed to execute one or more functions.
  • Each of the ECUs 40 to 45 and the control methods disclosed in the present disclosure may be achieved by a dedicated computer constituted by a processor including one or more dedicated hardware logic circuits.
  • Each of the ECUs 40 to 45 and the control methods disclosed in the present disclosure may be achieved by one or more dedicated computers constituted by a combination of a processor and a memory programmed to execute one or more functions and a processor including one or more hardware logic circuits.
  • the computer programs may be stored in a computer-readable non-transitory tangible storage medium as instructions executed by the computer.
  • the dedicated hardware logic circuit and the hardware logic circuit may be achieved by a digital circuit or an analog circuit including multiple logic circuits.

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